diff --git a/controler/CMakeLists.txt b/controler/CMakeLists.txt
index 3406a90..e6675ad 100644
--- a/controler/CMakeLists.txt
+++ b/controler/CMakeLists.txt
@@ -55,6 +55,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     ./User/bsp/time.c
     ./User/component/user_math.c
     ./User/module/config.c
+    ./User/task/init.c
+    ./User/task/display.c
+    ./User/task/user_task.c
+
 
 
     ./User/LCD/lcd.c
@@ -64,6 +68,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     ./User/LCD/touch.c
     ./User/lvgl/examples/porting/lv_port_disp_template.c
     ./User/lvgl/examples/porting/lv_port_indev_template.c
+    ./User/lvgl/stress/lv_demo_stress.c
     ${LVGL_C}
 
 
diff --git a/controler/Core/Inc/stm32f4xx_hal_conf.h b/controler/Core/Inc/stm32f4xx_hal_conf.h
index f2de69d..d9635fa 100644
--- a/controler/Core/Inc/stm32f4xx_hal_conf.h
+++ b/controler/Core/Inc/stm32f4xx_hal_conf.h
@@ -96,7 +96,7 @@
   *        (when HSE is used as system clock source, directly or through the PLL).
   */
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    25000000U /*!< Value of the External oscillator in Hz */
+  #define HSE_VALUE    8000000U /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 #if !defined  (HSE_STARTUP_TIMEOUT)
diff --git a/controler/Core/Inc/stm32f4xx_it.h b/controler/Core/Inc/stm32f4xx_it.h
index 13a27cc..651a4f5 100644
--- a/controler/Core/Inc/stm32f4xx_it.h
+++ b/controler/Core/Inc/stm32f4xx_it.h
@@ -56,6 +56,7 @@ void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void USART1_IRQHandler(void);
 void TIM8_TRG_COM_TIM14_IRQHandler(void);
+void DMA2_Stream0_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/controler/Core/Src/dma.c b/controler/Core/Src/dma.c
index b2c6b3c..c76b13e 100644
--- a/controler/Core/Src/dma.c
+++ b/controler/Core/Src/dma.c
@@ -64,6 +64,11 @@ void MX_DMA_Init(void)
     Error_Handler();
   }
 
+  /* DMA interrupt init */
+  /* DMA2_Stream0_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
+
 }
 
 /* USER CODE BEGIN 2 */
diff --git a/controler/Core/Src/freertos.c b/controler/Core/Src/freertos.c
index 8a81b40..0e14a91 100644
--- a/controler/Core/Src/freertos.c
+++ b/controler/Core/Src/freertos.c
@@ -26,6 +26,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 
+#include "task/user_task.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -96,6 +97,7 @@ void MX_FREERTOS_Init(void) {
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
+   osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
@@ -114,11 +116,7 @@ void MX_FREERTOS_Init(void) {
 void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN StartDefaultTask */
-  /* Infinite loop */
-  for(;;)
-  {
-    osDelay(1);
-  }
+    osThreadTerminate(osThreadGetId());
   /* USER CODE END StartDefaultTask */
 }
 
diff --git a/controler/Core/Src/gpio.c b/controler/Core/Src/gpio.c
index ca62f51..152d490 100644
--- a/controler/Core/Src/gpio.c
+++ b/controler/Core/Src/gpio.c
@@ -42,12 +42,25 @@
 void MX_GPIO_Init(void)
 {
 
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PB0 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 2 */
diff --git a/controler/Core/Src/main.c b/controler/Core/Src/main.c
index 7c1fbdb..06a7f79 100644
--- a/controler/Core/Src/main.c
+++ b/controler/Core/Src/main.c
@@ -141,8 +141,8 @@ void SystemClock_Config(void)
   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLM = 25;
-  RCC_OscInitStruct.PLL.PLLN = 336;
+  RCC_OscInitStruct.PLL.PLLM = 4;
+  RCC_OscInitStruct.PLL.PLLN = 168;
   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
   RCC_OscInitStruct.PLL.PLLQ = 4;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
diff --git a/controler/Core/Src/stm32f4xx_it.c b/controler/Core/Src/stm32f4xx_it.c
index 289a29d..8724e5a 100644
--- a/controler/Core/Src/stm32f4xx_it.c
+++ b/controler/Core/Src/stm32f4xx_it.c
@@ -60,6 +60,7 @@ void SysTick_Port (void);
 
 /* External variables --------------------------------------------------------*/
 extern CAN_HandleTypeDef hcan1;
+extern DMA_HandleTypeDef hdma_memtomem_dma2_stream0;
 extern UART_HandleTypeDef huart1;
 extern TIM_HandleTypeDef htim14;
 
@@ -221,6 +222,20 @@ void TIM8_TRG_COM_TIM14_IRQHandler(void)
   /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA2 stream0 global interrupt.
+  */
+void DMA2_Stream0_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream0_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_memtomem_dma2_stream0);
+  /* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream0_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/controler/User/LCD/lcd.c b/controler/User/LCD/lcd.c
index d6e221d..97ec424 100644
--- a/controler/User/LCD/lcd.c
+++ b/controler/User/LCD/lcd.c
@@ -604,68 +604,77 @@ void lcd_set_window(uint16_t sx, uint16_t sy, uint16_t width, uint16_t height)
  * @param       无
  * @retval      无
  */
-void lcd_init(void)
+
+__weak void lcd_init(void)
 {
-    GPIO_InitTypeDef gpio_init_struct;
-    FSMC_NORSRAM_TimingTypeDef fsmc_read_handle;
-    FSMC_NORSRAM_TimingTypeDef fsmc_write_handle;
 
-    LCD_CS_GPIO_CLK_ENABLE();   /* LCD_CS脚时钟使能 */
-    LCD_WR_GPIO_CLK_ENABLE();   /* LCD_WR脚时钟使能 */
-    LCD_RD_GPIO_CLK_ENABLE();   /* LCD_RD脚时钟使能 */
-    LCD_RS_GPIO_CLK_ENABLE();   /* LCD_RS脚时钟使能 */
-    LCD_BL_GPIO_CLK_ENABLE();   /* LCD_BL脚时钟使能 */
-    
-    gpio_init_struct.Pin = LCD_CS_GPIO_PIN;
-    gpio_init_struct.Mode = GPIO_MODE_AF_PP;                /* 推挽复用 */
-    gpio_init_struct.Pull = GPIO_PULLUP;                    /* 上拉 */
-    gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH;          /* 高速 */
-    gpio_init_struct.Alternate = GPIO_AF12_FSMC;            /* 复用为FSMC */
-    HAL_GPIO_Init(LCD_CS_GPIO_PORT, &gpio_init_struct);     /* 初始化LCD_CS引脚 */
-
-    gpio_init_struct.Pin = LCD_WR_GPIO_PIN;
-    HAL_GPIO_Init(LCD_WR_GPIO_PORT, &gpio_init_struct);     /* 初始化LCD_WR引脚 */
-
-    gpio_init_struct.Pin = LCD_RD_GPIO_PIN;
-    HAL_GPIO_Init(LCD_RD_GPIO_PORT, &gpio_init_struct);     /* 初始化LCD_RD引脚 */
-
-    gpio_init_struct.Pin = LCD_RS_GPIO_PIN;
-    HAL_GPIO_Init(LCD_RS_GPIO_PORT, &gpio_init_struct);     /* 初始化LCD_RS引脚 */
-
-    gpio_init_struct.Pin = LCD_BL_GPIO_PIN;
-    gpio_init_struct.Mode = GPIO_MODE_OUTPUT_PP;            /* 推挽输出 */
-    HAL_GPIO_Init(LCD_BL_GPIO_PORT, &gpio_init_struct);     /* LCD_BL引脚模式设置(推挽输出) */
-
-    g_sram_handle.Instance = FSMC_NORSRAM_DEVICE;
-    g_sram_handle.Extended = FSMC_NORSRAM_EXTENDED_DEVICE;
-    
-    g_sram_handle.Init.NSBank = FSMC_NORSRAM_BANK4;                        /* 使用NE4 */
-    g_sram_handle.Init.DataAddressMux = FSMC_DATA_ADDRESS_MUX_DISABLE;     /* 地址/数据线不复用 */
-    g_sram_handle.Init.MemoryDataWidth = FSMC_NORSRAM_MEM_BUS_WIDTH_16;    /* 16位数据宽度 */
-    g_sram_handle.Init.BurstAccessMode = FSMC_BURST_ACCESS_MODE_DISABLE;   /* 是否使能突发访问,仅对同步突发存储器有效,此处未用到 */
-    g_sram_handle.Init.WaitSignalPolarity = FSMC_WAIT_SIGNAL_POLARITY_LOW; /* 等待信号的极性,仅在突发模式访问下有用 */
-    g_sram_handle.Init.WaitSignalActive = FSMC_WAIT_TIMING_BEFORE_WS;      /* 存储器是在等待周期之前的一个时钟周期还是等待周期期间使能NWAIT */
-    g_sram_handle.Init.WriteOperation = FSMC_WRITE_OPERATION_ENABLE;       /* 存储器写使能 */
-    g_sram_handle.Init.WaitSignal = FSMC_WAIT_SIGNAL_DISABLE;              /* 等待使能位,此处未用到 */
-    g_sram_handle.Init.ExtendedMode = FSMC_EXTENDED_MODE_ENABLE;           /* 读写使用不同的时序 */
-    g_sram_handle.Init.AsynchronousWait = FSMC_ASYNCHRONOUS_WAIT_DISABLE;  /* 是否使能同步传输模式下的等待信号,此处未用到 */
-    g_sram_handle.Init.WriteBurst = FSMC_WRITE_BURST_DISABLE;              /* 禁止突发写 */
-    
-    /* FSMC读时序控制寄存器 */
-    fsmc_read_handle.AddressSetupTime = 0x0F;           /* 地址建立时间(ADDSET)为15个fsmc_ker_ck(1/168=6)即6*15=90ns */
-    fsmc_read_handle.AddressHoldTime = 0x00;            /* 地址保持时间(ADDHLD) 模式A是没有用到 */
-    fsmc_read_handle.DataSetupTime = 60;                /* 数据保存时间(DATAST)为60个fsmc_ker_ck=6*60=360ns */
-                                                        /* 因为液晶驱动IC的读数据的时候,速度不能太快,尤其是个别奇葩芯片 */
-    fsmc_read_handle.AccessMode = FSMC_ACCESS_MODE_A;   /* 模式A */
-    
-    /* FSMC写时序控制寄存器 */
-    fsmc_write_handle.AddressSetupTime = 9;             /* 地址建立时间(ADDSET)为9个fsmc_ker_ck=6*9=54ns */
-    fsmc_write_handle.AddressHoldTime = 0x00;           /* 地址保持时间(ADDHLD) 模式A是没有用到 */
-    fsmc_write_handle.DataSetupTime = 9;                /* 数据保存时间(DATAST)为9个fsmc_ker_ck=6*9=54ns */
-                                                        /* 注意：某些液晶驱动IC的写信号脉宽，最少也得50ns */
-    fsmc_write_handle.AccessMode = FSMC_ACCESS_MODE_A;  /* 模式A */
-    
-    HAL_SRAM_Init(&g_sram_handle, &fsmc_read_handle, &fsmc_write_handle);
+  // lcddev.id =0x7789;
+  // lcd_ex_st7789_reginit();
+  // lcd_display_dir(1);
+  // LCD_BL(1);
+  // lcd_clear(WHITE);
+  // return;
+  
+    // GPIO_InitTypeDef gpio_init_struct;
+    // FSMC_NORSRAM_TimingTypeDef fsmc_read_handle;
+    // FSMC_NORSRAM_TimingTypeDef fsmc_write_handle;
+    //
+    // LCD_CS_GPIO_CLK_ENABLE();   /* LCD_CS脚时钟使能 */
+    // LCD_WR_GPIO_CLK_ENABLE();   /* LCD_WR脚时钟使能 */
+    // LCD_RD_GPIO_CLK_ENABLE();   /* LCD_RD脚时钟使能 */
+    // LCD_RS_GPIO_CLK_ENABLE();   /* LCD_RS脚时钟使能 */
+    // LCD_BL_GPIO_CLK_ENABLE();   /* LCD_BL脚时钟使能 */
+    //
+    // gpio_init_struct.Pin = LCD_CS_GPIO_PIN;
+    // gpio_init_struct.Mode = GPIO_MODE_AF_PP;                /* 推挽复用 */
+    // gpio_init_struct.Pull = GPIO_PULLUP;                    /* 上拉 */
+    // gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH;          /* 高速 */
+    // gpio_init_struct.Alternate = GPIO_AF12_FSMC;            /* 复用为FSMC */
+    // HAL_GPIO_Init(LCD_CS_GPIO_PORT, &gpio_init_struct);     /* 初始化LCD_CS引脚 */
+    //
+    // gpio_init_struct.Pin = LCD_WR_GPIO_PIN;
+    // HAL_GPIO_Init(LCD_WR_GPIO_PORT, &gpio_init_struct);     /* 初始化LCD_WR引脚 */
+    //
+    // gpio_init_struct.Pin = LCD_RD_GPIO_PIN;
+    // HAL_GPIO_Init(LCD_RD_GPIO_PORT, &gpio_init_struct);     /* 初始化LCD_RD引脚 */
+    //
+    // gpio_init_struct.Pin = LCD_RS_GPIO_PIN;
+    // HAL_GPIO_Init(LCD_RS_GPIO_PORT, &gpio_init_struct);     /* 初始化LCD_RS引脚 */
+    //
+    // gpio_init_struct.Pin = LCD_BL_GPIO_PIN;
+    // gpio_init_struct.Mode = GPIO_MODE_OUTPUT_PP;            /* 推挽输出 */
+    // HAL_GPIO_Init(LCD_BL_GPIO_PORT, &gpio_init_struct);     /* LCD_BL引脚模式设置(推挽输出) */
+    //
+    // g_sram_handle.Instance = FSMC_NORSRAM_DEVICE;
+    // g_sram_handle.Extended = FSMC_NORSRAM_EXTENDED_DEVICE;
+    //
+    // g_sram_handle.Init.NSBank = FSMC_NORSRAM_BANK4;                        /* 使用NE4 */
+    // g_sram_handle.Init.DataAddressMux = FSMC_DATA_ADDRESS_MUX_DISABLE;     /* 地址/数据线不复用 */
+    // g_sram_handle.Init.MemoryDataWidth = FSMC_NORSRAM_MEM_BUS_WIDTH_16;    /* 16位数据宽度 */
+    // g_sram_handle.Init.BurstAccessMode = FSMC_BURST_ACCESS_MODE_DISABLE;   /* 是否使能突发访问,仅对同步突发存储器有效,此处未用到 */
+    // g_sram_handle.Init.WaitSignalPolarity = FSMC_WAIT_SIGNAL_POLARITY_LOW; /* 等待信号的极性,仅在突发模式访问下有用 */
+    // g_sram_handle.Init.WaitSignalActive = FSMC_WAIT_TIMING_BEFORE_WS;      /* 存储器是在等待周期之前的一个时钟周期还是等待周期期间使能NWAIT */
+    // g_sram_handle.Init.WriteOperation = FSMC_WRITE_OPERATION_ENABLE;       /* 存储器写使能 */
+    // g_sram_handle.Init.WaitSignal = FSMC_WAIT_SIGNAL_DISABLE;              /* 等待使能位,此处未用到 */
+    // g_sram_handle.Init.ExtendedMode = FSMC_EXTENDED_MODE_ENABLE;           /* 读写使用不同的时序 */
+    // g_sram_handle.Init.AsynchronousWait = FSMC_ASYNCHRONOUS_WAIT_DISABLE;  /* 是否使能同步传输模式下的等待信号,此处未用到 */
+    // g_sram_handle.Init.WriteBurst = FSMC_WRITE_BURST_DISABLE;              /* 禁止突发写 */
+    //
+    // /* FSMC读时序控制寄存器 */
+    // fsmc_read_handle.AddressSetupTime = 0x0F;           /* 地址建立时间(ADDSET)为15个fsmc_ker_ck(1/168=6)即6*15=90ns */
+    // fsmc_read_handle.AddressHoldTime = 0x00;            /* 地址保持时间(ADDHLD) 模式A是没有用到 */
+    // fsmc_read_handle.DataSetupTime = 60;                /* 数据保存时间(DATAST)为60个fsmc_ker_ck=6*60=360ns */
+    //                                                     /* 因为液晶驱动IC的读数据的时候,速度不能太快,尤其是个别奇葩芯片 */
+    // fsmc_read_handle.AccessMode = FSMC_ACCESS_MODE_A;   /* 模式A */
+    //
+    // /* FSMC写时序控制寄存器 */
+    // fsmc_write_handle.AddressSetupTime = 9;             /* 地址建立时间(ADDSET)为9个fsmc_ker_ck=6*9=54ns */
+    // fsmc_write_handle.AddressHoldTime = 0x00;           /* 地址保持时间(ADDHLD) 模式A是没有用到 */
+    // fsmc_write_handle.DataSetupTime = 9;                /* 数据保存时间(DATAST)为9个fsmc_ker_ck=6*9=54ns */
+    //                                                     /* 注意：某些液晶驱动IC的写信号脉宽，最少也得50ns */
+    // fsmc_write_handle.AccessMode = FSMC_ACCESS_MODE_A;  /* 模式A */
+    //
+    // HAL_SRAM_Init(&g_sram_handle, &fsmc_read_handle, &fsmc_write_handle);
     delay_ms(50);
 
     /* 尝试9341 ID的读取 */
@@ -786,21 +795,21 @@ void lcd_init(void)
         lcd_ssd_backlight_set(100); /* 背光设置为最亮 */
     }
 
-    /* 初始化完成以后,提速 */
-    if (lcddev.id == 0x7789 || lcddev.id == 0x9341 || lcddev.id == 0x1963)  /* 7789/9341/1963 提速 */
-    {
-        /* 重新配置写时序控制寄存器的时序 */
-        fsmc_write_handle.AddressSetupTime = 3; /* 地址建立时间(ADDSET)为3个fsmc_ker_ck=6*3=18ns */
-        fsmc_write_handle.DataSetupTime = 3;    /* 数据保持时间(DATAST)为3个fsmc_ker_ck=6*3=18ns */
-        FSMC_NORSRAM_Extended_Timing_Init(g_sram_handle.Extended, &fsmc_write_handle, g_sram_handle.Init.NSBank, g_sram_handle.Init.ExtendedMode);
-    }
-    else if (lcddev.id == 0x5310 || lcddev.id == 0x7796 || lcddev.id == 0x5510 || lcddev.id == 0x9806)  /* 如果是这几个IC, 则设置WR时序为最快 */
-    {
-        /* 重新配置写时序控制寄存器的时序 */
-        fsmc_write_handle.AddressSetupTime = 2; /* 地址建立时间(ADDSET)为2个fsmc_ker_ck=6*2=12ns */
-        fsmc_write_handle.DataSetupTime = 2;    /* 数据保持时间(DATAST)为2个fsmc_ker_ck=6*2=12ns */
-        FSMC_NORSRAM_Extended_Timing_Init(g_sram_handle.Extended, &fsmc_write_handle, g_sram_handle.Init.NSBank, g_sram_handle.Init.ExtendedMode);
-    }
+    // /* 初始化完成以后,提速 */
+    // if (lcddev.id == 0x7789 || lcddev.id == 0x9341 || lcddev.id == 0x1963)  /* 7789/9341/1963 提速 */
+    // {
+    //     /* 重新配置写时序控制寄存器的时序 */
+    //     fsmc_write_handle.AddressSetupTime = 3; /* 地址建立时间(ADDSET)为3个fsmc_ker_ck=6*3=18ns */
+    //     fsmc_write_handle.DataSetupTime = 3;    /* 数据保持时间(DATAST)为3个fsmc_ker_ck=6*3=18ns */
+    //     FSMC_NORSRAM_Extended_Timing_Init(g_sram_handle.Extended, &fsmc_write_handle, g_sram_handle.Init.NSBank, g_sram_handle.Init.ExtendedMode);
+    // }
+    // else if (lcddev.id == 0x5310 || lcddev.id == 0x7796 || lcddev.id == 0x5510 || lcddev.id == 0x9806)  /* 如果是这几个IC, 则设置WR时序为最快 */
+    // {
+    //     /* 重新配置写时序控制寄存器的时序 */
+    //     fsmc_write_handle.AddressSetupTime = 2; /* 地址建立时间(ADDSET)为2个fsmc_ker_ck=6*2=12ns */
+    //     fsmc_write_handle.DataSetupTime = 2;    /* 数据保持时间(DATAST)为2个fsmc_ker_ck=6*2=12ns */
+    //     FSMC_NORSRAM_Extended_Timing_Init(g_sram_handle.Extended, &fsmc_write_handle, g_sram_handle.Init.NSBank, g_sram_handle.Init.ExtendedMode);
+    // }
 
     lcd_display_dir(0); /* 默认为竖屏 */
     LCD_BL(1);          /* 点亮背光 */
diff --git a/controler/User/LCD/lcd.h b/controler/User/LCD/lcd.h
index dd9f2f2..0013240 100644
--- a/controler/User/LCD/lcd.h
+++ b/controler/User/LCD/lcd.h
@@ -71,8 +71,8 @@
  * 修改LCD_FSMC_NEX, 对应的LCD_CS_GPIO相关设置也得改
  * 修改LCD_FSMC_AX , 对应的LCD_RS_GPIO相关设置也得改
  */
-#define LCD_FSMC_NEX         4              /* 使用FSMC_NE4接LCD_CS,取值范围只能是: 1~4 */
-#define LCD_FSMC_AX          6              /* 使用FSMC_A6接LCD_RS,取值范围是: 0 ~ 25 */
+#define LCD_FSMC_NEX         1              /* 使用FSMC_NE4接LCD_CS,取值范围只能是: 1~4 */
+#define LCD_FSMC_AX          16              /* 使用FSMC_A6接LCD_RS,取值范围是: 0 ~ 25 */
 
 #define LCD_FSMC_BCRX        FSMC_Bank1->BTCR[(LCD_FSMC_NEX - 1) * 2]       /* BCR寄存器,根据LCD_FSMC_NEX自动计算 */
 #define LCD_FSMC_BTRX        FSMC_Bank1->BTCR[(LCD_FSMC_NEX - 1) * 2 + 1]   /* BTR寄存器,根据LCD_FSMC_NEX自动计算 */
@@ -101,8 +101,8 @@ extern uint32_t  g_back_color;      /* 背景颜色.默认为白色 */
 
 /* LCD背光控制 */
 #define LCD_BL(x)   do{ x ? \
-                      HAL_GPIO_WritePin(LCD_BL_GPIO_PORT, LCD_BL_GPIO_PIN, GPIO_PIN_SET) : \
-                      HAL_GPIO_WritePin(LCD_BL_GPIO_PORT, LCD_BL_GPIO_PIN, GPIO_PIN_RESET); \
+                      HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0, GPIO_PIN_SET) : \
+                      HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0, GPIO_PIN_RESET); \
                      }while(0)
 
 /* LCD地址结构体 */
diff --git a/controler/User/lvgl/examples/porting/lv_port_disp_template.c b/controler/User/lvgl/examples/porting/lv_port_disp_template.c
index b60bf0b..1b98507 100755
--- a/controler/User/lvgl/examples/porting/lv_port_disp_template.c
+++ b/controler/User/lvgl/examples/porting/lv_port_disp_template.c
@@ -18,12 +18,12 @@
  *********************/
 #ifndef MY_DISP_HOR_RES
     #warning Please define or replace the macro MY_DISP_HOR_RES with the actual screen width, default value 320 is used for now.
-    #define MY_DISP_HOR_RES    480
+    #define MY_DISP_HOR_RES    320
 #endif
 
 #ifndef MY_DISP_VER_RES
     #warning Please define or replace the macro MY_DISP_HOR_RES with the actual screen height, default value 240 is used for now.
-    #define MY_DISP_VER_RES    320
+    #define MY_DISP_VER_RES    240
 #endif
 
 
@@ -115,8 +115,8 @@ void lv_port_disp_init(void)
 
 //    /* Example for 2) */
     static lv_disp_draw_buf_t draw_buf_dsc_2;
-    static lv_color_t buf_2_1[MY_DISP_HOR_RES * 40];                        /*A buffer for 10 rows*/
-    static lv_color_t buf_2_2[MY_DISP_HOR_RES * 40];                        /*An other buffer for 10 rows*/
+    static lv_color_t buf_2_1[MY_DISP_HOR_RES * 20];                        /*A buffer for 10 rows*/
+    static lv_color_t buf_2_2[MY_DISP_HOR_RES * 20];                        /*An other buffer for 10 rows*/
     lv_disp_draw_buf_init(&draw_buf_dsc_2, buf_2_1, buf_2_2, MY_DISP_HOR_RES * 40);   /*Initialize the display buffer*/
 
 //    /* Example for 3) also set disp_drv.full_refresh = 1 below*/
diff --git a/controler/User/lvgl/lv_demos.h b/controler/User/lvgl/lv_demos.h
index 46053e1..36a3e13 100755
--- a/controler/User/lvgl/lv_demos.h
+++ b/controler/User/lvgl/lv_demos.h
@@ -13,10 +13,10 @@ extern "C" {
 /*********************
  *      INCLUDES
  *********************/
-#include "../lvgl.h"
+#include "lvgl.h"
 
 #if LV_USE_DEMO_WIDGETS
-#include "widgets/lv_demo_widgets.h"
+#include "lvgl/examples/lv_examples.h"
 #endif
 
 #if LV_USE_DEMO_BENCHMARK
diff --git a/controler/User/task/config.yaml b/controler/User/task/config.yaml
new file mode 100644
index 0000000..ec932fa
--- /dev/null
+++ b/controler/User/task/config.yaml
@@ -0,0 +1,6 @@
+- delay: 0
+  description: ''
+  freq_control: false
+  function: Task_lvgl
+  name: lvgl
+  stack: 1024
diff --git a/controler/User/task/display.c b/controler/User/task/display.c
new file mode 100644
index 0000000..358b5b6
--- /dev/null
+++ b/controler/User/task/display.c
@@ -0,0 +1,49 @@
+/*
+    lvgl Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "lvgl/lvgl.h"
+#include "lvgl/stress/lv_demo_stress.h"
+#include "lvgl/examples/porting/lv_port_disp_template.h"
+#include "LCD/lcd.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_lvgl(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  lcd_init();
+  lv_init();
+
+  lv_port_disp_init();
+
+  lv_demo_stress();
+  // osDelay(LVGL_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  /* USER CODE INIT BEGIN */
+
+  /* USER CODE INIT END */
+
+  while (1) {
+  // lcd_fill(100, 100,200,200,RED);
+lv_task_handler();
+    // lv_timer_handler();
+    /* USER CODE BEGIN */
+
+    /* USER CODE END */
+  }
+  
+}
diff --git a/controler/User/task/init.c b/controler/User/task/init.c
new file mode 100644
index 0000000..1c0d5ec
--- /dev/null
+++ b/controler/User/task/init.c
@@ -0,0 +1,42 @@
+/*
+    Init Task
+    任务初始化，创建各个线程任务和消息队列
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief 初始化
+ *
+ * \param argument 未使用
+ */
+void Task_Init(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+    /* USER CODE INIT BEGIN */
+
+    /* USER CODE INIT END */
+  osKernelLock(); /* 锁定内核，防止任务切换 */
+  
+  /* 创建任务线程 */
+  task_runtime.thread.lvgl = osThreadNew(Task_lvgl, NULL, &attr_lvgl);
+
+  // 创建消息队列
+  /* USER MESSAGE BEGIN */
+  task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
+  /* USER MESSAGE END */
+
+  osKernelUnlock(); // 解锁内核
+  osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
+}
\ No newline at end of file
diff --git a/controler/User/task/user_task.c b/controler/User/task/user_task.c
new file mode 100644
index 0000000..93e0d4f
--- /dev/null
+++ b/controler/User/task/user_task.c
@@ -0,0 +1,16 @@
+#include "task/user_task.h"
+
+Task_Runtime_t task_runtime;
+
+const osThreadAttr_t attr_init = {
+    .name = "Task_Init",
+    .priority = osPriorityRealtime,
+    .stack_size = 256 * 4,
+};
+
+/* User_task */
+const osThreadAttr_t attr_lvgl = {
+    .name = "lvgl",
+    .priority = osPriorityNormal,
+    .stack_size = 1024 * 8,
+};
diff --git a/controler/User/task/user_task.h b/controler/User/task/user_task.h
new file mode 100644
index 0000000..1b06217
--- /dev/null
+++ b/controler/User/task/user_task.h
@@ -0,0 +1,80 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+/* Exported constants ------------------------------------------------------- */
+/* 任务运行频率 */
+
+
+/* 任务初始化延时ms */
+#define TASK_INIT_DELAY (100u)
+#define LVGL_INIT_DELAY (0)
+
+/* Exported defines --------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+/* 任务运行时结构体 */
+typedef struct {
+    /* 各任务，也可以叫做线程 */
+    struct {
+        osThreadId_t lvgl;
+    } thread;
+
+    /* USER MESSAGE BEGIN */
+    struct {
+        osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
+    } msgq;
+    /* USER MESSAGE END */
+
+    /* 机器人状态 */
+    struct {
+        float battery; /* 电池电量百分比 */
+        float vbat; /* 电池电压 */
+        float cpu_temp; /* CPU温度 */
+    } status;
+
+    /* USER CONFIG BEGIN */
+
+    /* USER CONFIG END */
+
+    /* 各任务的stack使用 */
+    struct {
+        UBaseType_t lvgl;
+    } stack_water_mark;
+
+    /* 各任务运行频率 */
+    struct {
+
+    } freq;
+
+    /* 任务最近运行时间 */
+    struct {
+
+    } last_up_time;
+
+} Task_Runtime_t;
+
+/* 任务运行时结构体 */
+extern Task_Runtime_t task_runtime;
+
+/* 初始化任务句柄 */
+extern const osThreadAttr_t attr_init;
+extern const osThreadAttr_t attr_lvgl;
+
+/* 任务函数声明 */
+void Task_Init(void *argument);
+void Task_lvgl(void *argument);
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/controler/controler.ioc b/controler/controler.ioc
index 193d265..d8e39fb 100644
--- a/controler/controler.ioc
+++ b/controler/controler.ioc
@@ -43,35 +43,36 @@ Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PH0-OSC_IN
 Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PE15
-Mcu.Pin11=PD8
-Mcu.Pin12=PD9
-Mcu.Pin13=PD10
-Mcu.Pin14=PD11
-Mcu.Pin15=PD14
-Mcu.Pin16=PD15
-Mcu.Pin17=PA9
-Mcu.Pin18=PA10
-Mcu.Pin19=PA11
-Mcu.Pin2=PE7
-Mcu.Pin20=PA12
-Mcu.Pin21=PA13
-Mcu.Pin22=PA14
-Mcu.Pin23=PD0
-Mcu.Pin24=PD1
-Mcu.Pin25=PD4
-Mcu.Pin26=PD5
-Mcu.Pin27=PD7
-Mcu.Pin28=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin29=VP_SYS_VS_tim14
-Mcu.Pin3=PE8
-Mcu.Pin4=PE9
-Mcu.Pin5=PE10
-Mcu.Pin6=PE11
-Mcu.Pin7=PE12
-Mcu.Pin8=PE13
-Mcu.Pin9=PE14
-Mcu.PinsNb=30
+Mcu.Pin10=PE14
+Mcu.Pin11=PE15
+Mcu.Pin12=PD8
+Mcu.Pin13=PD9
+Mcu.Pin14=PD10
+Mcu.Pin15=PD11
+Mcu.Pin16=PD14
+Mcu.Pin17=PD15
+Mcu.Pin18=PA9
+Mcu.Pin19=PA10
+Mcu.Pin2=PB0
+Mcu.Pin20=PA11
+Mcu.Pin21=PA12
+Mcu.Pin22=PA13
+Mcu.Pin23=PA14
+Mcu.Pin24=PD0
+Mcu.Pin25=PD1
+Mcu.Pin26=PD4
+Mcu.Pin27=PD5
+Mcu.Pin28=PD7
+Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin3=PE7
+Mcu.Pin30=VP_SYS_VS_tim14
+Mcu.Pin4=PE8
+Mcu.Pin5=PE9
+Mcu.Pin6=PE10
+Mcu.Pin7=PE11
+Mcu.Pin8=PE12
+Mcu.Pin9=PE13
+Mcu.PinsNb=31
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -80,6 +81,7 @@ MxDb.Version=DB.6.0.150
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -109,6 +111,8 @@ PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
+PB0.Locked=true
+PB0.Signal=GPIO_Output
 PD0.Mode=16b-d1
 PD0.Signal=FSMC_D2
 PD1.Mode=16b-d1
@@ -199,26 +203,26 @@ RCC.EthernetFreq_Value=168000000
 RCC.FCLKCortexFreq_Value=168000000
 RCC.FamilyName=M
 RCC.HCLKFreq_Value=168000000
-RCC.HSE_VALUE=25000000
+RCC.HSE_VALUE=8000000
 RCC.HSI_VALUE=16000000
-RCC.I2SClocksFreq_Value=96000000
+RCC.I2SClocksFreq_Value=192000000
 RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
 RCC.LSE_VALUE=32768
 RCC.LSI_VALUE=32000
 RCC.MCO2PinFreq_Value=168000000
 RCC.PLLCLKFreq_Value=168000000
-RCC.PLLM=25
-RCC.PLLN=336
+RCC.PLLM=4
+RCC.PLLN=168
 RCC.PLLQCLKFreq_Value=84000000
 RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
 RCC.RTCFreq_Value=32000
-RCC.RTCHSEDivFreq_Value=12500000
+RCC.RTCHSEDivFreq_Value=4000000
 RCC.SYSCLKFreq_VALUE=168000000
 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.VCOI2SOutputFreq_Value=192000000
-RCC.VCOInputFreq_Value=1000000
+RCC.VCOI2SOutputFreq_Value=384000000
+RCC.VCOInputFreq_Value=2000000
 RCC.VCOOutputFreq_Value=336000000
-RCC.VcooutputI2S=96000000
+RCC.VcooutputI2S=192000000
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
@@ -226,3 +230,4 @@ VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
 VP_SYS_VS_tim14.Mode=TIM14
 VP_SYS_VS_tim14.Signal=SYS_VS_tim14
 board=custom
+rtos.0.ip=FREERTOS
diff --git a/engineer/CMakeLists.txt b/engineer/CMakeLists.txt
index b14d013..7b92b00 100644
--- a/engineer/CMakeLists.txt
+++ b/engineer/CMakeLists.txt
@@ -57,6 +57,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/component/kinematics.c
     User/component/pid.c
     User/component/user_math.c
+    ./User/component/mixer.c
 
     # User/device sources
     User/device/motor.c
diff --git a/engineer/User/component/component_config.yaml b/engineer/User/component/component_config.yaml
index 0d07966..70feb54 100644
--- a/engineer/User/component/component_config.yaml
+++ b/engineer/User/component/component_config.yaml
@@ -6,6 +6,10 @@ filter:
   dependencies:
   - component/ahrs
   enabled: true
+mixer:
+  dependencies:
+  - component/user_math.h
+  enabled: true
 pid:
   dependencies:
   - component/filter
diff --git a/engineer/User/component/mixer.c b/engineer/User/component/mixer.c
new file mode 100644
index 0000000..554b92e
--- /dev/null
+++ b/engineer/User/component/mixer.c
@@ -0,0 +1,94 @@
+/*
+  混合器
+*/
+
+#include "mixer.h"
+
+#include "math.h"
+
+/**
+ * @brief 初始化混合器
+ *
+ * @param mixer 混合器
+ * @param mode 混合器模式
+ * @return int8_t 0对应没有错误
+ */
+int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode) {
+  if (mixer == NULL) return -1;
+
+  mixer->mode = mode;
+  return 0;
+}
+
+/**
+ * @brief 计算输出
+ *
+ * @param mixer 混合器
+ * @param move_vec 运动向量
+ * @param out 输出数组
+ * @param len 输出数组长短
+ * @param scale 输出放大因子
+ * @return int8_t 0对应没有错误
+ */
+int8_t Mixer_Apply(Mixer_t *mixer, MoveVector_t *move_vec, float *out,
+                   int8_t len, float scale) {
+  if (mixer == NULL) return -1;
+
+  switch (mixer->mode) {
+    case MIXER_MECANUM:
+      if (len == 4) {
+        out[0] = move_vec->vx - move_vec->vy + move_vec->wz;
+        out[1] = move_vec->vx + move_vec->vy + move_vec->wz;
+        out[2] = -move_vec->vx + move_vec->vy + move_vec->wz;
+        out[3] = -move_vec->vx - move_vec->vy + move_vec->wz;
+      } else {
+        goto error;
+      }
+      break;
+
+    case MIXER_PARLFIX4:
+      if (len == 4) {
+        out[0] = -move_vec->vx;
+        out[1] = move_vec->vx;
+        out[2] = move_vec->vx;
+        out[3] = -move_vec->vx;
+      } else {
+        goto error;
+      }
+    case MIXER_PARLFIX2:
+      if (len == 2) {
+        out[0] = -move_vec->vx;
+        out[1] = move_vec->vx;
+      } else {
+        goto error;
+      }
+    case MIXER_SINGLE:
+      if (len == 1) {
+        out[0] = move_vec->vx;
+      } else {
+        goto error;
+      }
+    case MIXER_OMNICROSS:
+    case MIXER_OMNIPLUS:
+      goto error;
+  }
+
+  float abs_max = 0.f;
+  for (int8_t i = 0; i < len; i++) {
+    const float abs_val = fabsf(out[i]);
+    abs_max = (abs_val > abs_max) ? abs_val : abs_max;
+  }
+  if (abs_max > 1.f) {
+    for (int8_t i = 0; i < len; i++) {
+      out[i] /= abs_max;
+    }
+  }
+  for (int8_t i = 0; i < len; i++) {
+    out[i] *= scale;
+  }
+  return 0;
+
+error:
+  for (uint8_t i = 0; i < len; i++) out[i] = 0;
+  return -1;
+}
diff --git a/engineer/User/component/mixer.h b/engineer/User/component/mixer.h
new file mode 100644
index 0000000..b8e4401
--- /dev/null
+++ b/engineer/User/component/mixer.h
@@ -0,0 +1,76 @@
+/*
+  混合器
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "user_math.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/** 四轮布局 */
+/* 前 */
+/* 2 1 */
+/* 3 4 */
+
+/* 两轮布局 */
+/* 前 */
+/* 2 1 */
+
+/* 混合器模式 */
+typedef enum {
+  MIXER_MECANUM,   /* 麦克纳姆轮 */
+  MIXER_PARLFIX4,  /* 平行四驱动轮 */
+  MIXER_PARLFIX2,  /* 平行对侧两驱动轮 */
+  MIXER_OMNICROSS, /* 叉形全向轮 */
+  MIXER_OMNIPLUS,  /* 十字全向轮 */
+  MIXER_SINGLE,    /* 单个摩擦轮 */
+} Mixer_Mode_t;
+
+typedef struct {
+  Mixer_Mode_t mode;
+} Mixer_t; /* 混合器主结构体 */
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/**
+ * @brief 初始化混合器
+ *
+ * @param mixer 混合器
+ * @param mode 混合器模式
+ * @return int8_t 0对应没有错误
+ */
+int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode);
+
+/**
+ * @brief 计算输出
+ *
+ * @param mixer 混合器
+ * @param move_vec 运动向量
+ * @param out 输出数组
+ * @param len 输出数组长短
+ * @param scale 输出放大因子
+ * @return int8_t 0对应没有错误
+ */
+int8_t Mixer_Apply(Mixer_t *mixer, MoveVector_t *move_vec, float *out,
+                   int8_t len, float scale);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/engineer/User/module/chassis.c b/engineer/User/module/chassis.c
new file mode 100644
index 0000000..ab030ad
--- /dev/null
+++ b/engineer/User/module/chassis.c
@@ -0,0 +1,418 @@
+/*
+ * 底盘模组
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "chassis.h"
+
+#include <stdlib.h>
+
+#include "bsp/mm.h"
+#include "cmsis_os2.h"
+#include "component/limiter.h"
+#include "device/can.h"
+#include "module/cap.h"
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+#define _CAP_PERCENTAGE_WORK 100   /* 底盘不再限制功率的电容电量 */
+#define _CAP_PERCENTAGE_CHARGE 30 /* 电容开始工作的电容电量 */
+
+#define CHASSIS_MAX_CAP_POWER 100 /* 电容能够提供的最大功率 */
+
+#define CHASSIS_ROTOR_WZ_MIN 0.6f          /* 小陀螺旋转位移下界 */
+#define CHASSIS_ROTOR_WZ_MAX 0.8f          /* 小陀螺旋转位移上界 */
+#define M_7OVER72PI (M_2PI * 7.0f / 72.0f) /* 三十五度对应弧度值 */
+// #define CHASSIS_ROTOR_OMEGA 0.15f        /* 小陀螺转动频率 */
+// 随机产生小陀螺转动频率，范围0.001-0.05
+//#define CHASSIS_ROTOR_OMEGA rand() % 50 / 10000.0f + 0.001f
+#define CHASSIS_ROTOR_OMEGA 0.001
+/* Private macro ------------------------------------------------------------ */
+
+/* 保证电容电量宏定义在正确范围内 */
+#if ((_CAP_PERCENTAGE_WORK < 0) || (_CAP_PERCENTAGE_WORK > 100) || \
+     (_CAP_PERCENTAGE_CHARGE < 0) || (_CAP_PERCENTAGE_CHARGE > 100))
+#error "Cap percentage should be in the range from 0 to 100."
+#endif
+
+/* 保证电容功率宏定义在正确范围内 */
+#if ((CHASSIS_MAX_CAP_POWER < 60) || (CHASSIS_MAX_CAP_POWER > 200))
+#error "The capacitor power should be in in the range from 60 to 200."
+#endif
+
+/* Private variables -------------------------------------------------------- */
+
+static const float CAP_PERCENTAGE_WORK = (float)_CAP_PERCENTAGE_WORK / 100.0f;
+static const float CAP_PERCENTAGE_CHARGE =
+    (float)_CAP_PERCENTAGE_CHARGE / 100.0f;
+
+/* Private function  -------------------------------------------------------- */
+/**
+ * \brief 设置底盘模式
+ *
+ * \param c 包含底盘数据的结构体
+ * \param mode 要设置的模式
+ *
+ * \return 函数运行结果
+ */
+static int8_t Chassis_SetMode(Chassis_t *c, CMD_ChassisMode_t mode,
+                              uint32_t now) {
+  if (c == NULL) return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
+  if (mode == c->mode) return CHASSIS_OK; /* 模式未改变直接返回 */
+
+  if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
+    srand(now);
+    c->wz_multi = (rand() % 2) ? -1 : 1;
+  }
+  /* 切换模式后重置PID和滤波器 */
+  for (uint8_t i = 0; i < c->num_wheel; i++) {
+    PID_Reset(c->pid.motor + i);
+    LowPassFilter2p_Reset(c->filter.in + i, 0.0f);
+    LowPassFilter2p_Reset(c->filter.out + i, 0.0f);
+  }
+  c->mode = mode;
+
+  return CHASSIS_OK;
+}
+/**
+ * @brief 产生小陀螺wz随机速度
+ *
+ * @param min wz产生最小速度
+ * @param max wz产生最大速度
+ * @param now ctrl_chassis的tick数
+ * @return float
+ */
+static float Chassis_CalcWz(const float min, const float max, uint32_t now) {
+  /* wz在min和max之间，上限0.6f */
+  float wz_vary = fabs(0.2f * sinf(CHASSIS_ROTOR_OMEGA * (float)now)) + min;
+  return wz_vary > 0.8f ? max : wz_vary;
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief 初始化底盘
+ *
+ * \param c 包含底盘数据的结构体
+ * \param param 包含底盘参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
+                    AHRS_Eulr_t *mech_zero, float target_freq) {
+  if (c == NULL) return CHASSIS_ERR_NULL;
+
+  c->param = param;             /* 初始化参数 */
+  c->mode = CHASSIS_MODE_RELAX; /* 设置上电后底盘默认模式 */
+  c->mech_zero = mech_zero;     /* 设置底盘机械零点 */
+
+  /* 如果电机反装重新计算机械零点 */
+  if (param->reverse.yaw) CircleReverse(&(c->mech_zero->yaw));
+
+  /* 根据参数（param）中的底盘型号初始化Mixer */
+  Mixer_Mode_t mixer_mode;
+  switch (c->param->type) {
+    case CHASSIS_TYPE_MECANUM:
+      c->num_wheel = 4;
+      mixer_mode = MIXER_MECANUM;
+      break;
+
+    case CHASSIS_TYPE_PARLFIX4:
+      c->num_wheel = 4;
+      mixer_mode = MIXER_PARLFIX4;
+      break;
+
+    case CHASSIS_TYPE_PARLFIX2:
+      c->num_wheel = 2;
+      mixer_mode = MIXER_PARLFIX2;
+      break;
+
+    case CHASSIS_TYPE_OMNI_CROSS:
+      c->num_wheel = 4;
+      mixer_mode = MIXER_OMNICROSS;
+      break;
+
+    case CHASSIS_TYPE_OMNI_PLUS:
+      c->num_wheel = 4;
+      mixer_mode = MIXER_OMNIPLUS;
+      break;
+
+    case CHASSIS_TYPE_SINGLE:
+      c->num_wheel = 1;
+      mixer_mode = MIXER_SINGLE;
+      break;
+
+    case CHASSIS_TYPE_DRONE:
+      /* onboard sdk. */
+      return CHASSIS_ERR_TYPE;
+  }
+
+  /* 根据底盘型号动态分配控制时使用的变量 */
+  c->feedback.motor_rpm =
+      BSP_Malloc((size_t)c->num_wheel * sizeof(*c->feedback.motor_rpm));
+  if (c->feedback.motor_rpm == NULL) goto error; /* 变量未分配，返回错误 */
+
+  c->feedback.motor_current =
+      BSP_Malloc((size_t)c->num_wheel * sizeof(*c->feedback.motor_current));
+  if (c->feedback.motor_current == NULL) goto error;
+
+  c->setpoint.motor_rpm =
+      BSP_Malloc((size_t)c->num_wheel * sizeof(*c->setpoint.motor_rpm));
+  if (c->setpoint.motor_rpm == NULL) goto error;
+
+  c->pid.motor = BSP_Malloc((size_t)c->num_wheel * sizeof(*c->pid.motor));
+  if (c->pid.motor == NULL) goto error;
+
+  c->out = BSP_Malloc((size_t)c->num_wheel * sizeof(*c->out));
+  if (c->out == NULL) goto error;
+
+  c->filter.in = BSP_Malloc((size_t)c->num_wheel * sizeof(*c->filter.in));
+  if (c->filter.in == NULL) goto error;
+
+  c->filter.out = BSP_Malloc((size_t)c->num_wheel * sizeof(*c->filter.out));
+  if (c->filter.out == NULL) goto error;
+
+  /* 初始化轮子电机控制PID和LPF */
+  for (uint8_t i = 0; i < c->num_wheel; i++) {
+    PID_Init(c->pid.motor + i, KPID_MODE_NO_D, target_freq,
+             &(c->param->motor_pid_param));
+
+    LowPassFilter2p_Init(c->filter.in + i, target_freq,
+                         c->param->low_pass_cutoff_freq.in);
+    LowPassFilter2p_Init(c->filter.out + i, target_freq,
+                         c->param->low_pass_cutoff_freq.out);
+  }
+
+  /* 初始化跟随云台的控制PID */
+  PID_Init(&(c->pid.follow), KPID_MODE_NO_D, target_freq,
+           &(c->param->follow_pid_param));
+
+  Mixer_Init(&(c->mixer), mixer_mode); /* 初始化混合器 */
+  return CHASSIS_OK;
+
+error:
+  /* 动态内存分配错误时，释放已经分配的内存，返回错误值 */
+  BSP_Free(c->feedback.motor_rpm);
+  BSP_Free(c->setpoint.motor_rpm);
+  BSP_Free(c->pid.motor);
+  BSP_Free(c->out);
+  BSP_Free(c->filter.in);
+  BSP_Free(c->filter.out);
+  return CHASSIS_ERR_NULL;
+}
+
+/**
+ * \brief 更新底盘的反馈信息
+ *
+ * \param c 包含底盘数据的结构体
+ * \param can CAN设备结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
+  /* 底盘数据和CAN结构体不能为空 */
+  if (c == NULL) return CHASSIS_ERR_NULL;
+  if (can == NULL) return CHASSIS_ERR_NULL;
+
+  /* 如果电机反装重新计算正确的反馈值 */
+  if (c->param->reverse.yaw) {
+    c->feedback.gimbal_yaw_encoder =
+        -can->motor.gimbal.named.yaw.rotor_angle + M_2PI;
+  } else {
+    c->feedback.gimbal_yaw_encoder = can->motor.gimbal.named.yaw.rotor_angle;
+  }
+
+  /* 将CAN中的反馈数据写入到feedback中 */
+  for (uint8_t i = 0; i < c->num_wheel; i++) {
+    c->feedback.motor_rpm[i] = can->motor.chassis.as_array[i].rotor_speed;
+    c->feedback.motor_current[i] =
+        can->motor.chassis.as_array[i].torque_current;
+  }
+
+  return CHASSIS_OK;
+}
+
+/**
+ * \brief 运行底盘控制逻辑
+ *
+ * \param c 包含底盘数据的结构体
+ * \param c_cmd 底盘控制指令
+ * \param dt_sec 两次调用的时间间隔
+ *
+ * \return 函数运行结果
+ */
+int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd,
+                       uint32_t now) {
+  /* 底盘数据和控制指令结构体不能为空 */
+  if (c == NULL) return CHASSIS_ERR_NULL;
+  if (c_cmd == NULL) return CHASSIS_ERR_NULL;
+
+  c->dt = (float)(now - c->lask_wakeup) / 1000.0f;
+  c->lask_wakeup = now;
+
+  /* 根据遥控器命令更改底盘模式 */
+  Chassis_SetMode(c, c_cmd->mode, now);
+
+  /* ctrl_vec -> move_vec 控制向量和真实的移动向量之间有一个换算关系 */
+  /* 计算vx、vy */
+  switch (c->mode) {
+    case CHASSIS_MODE_BREAK: /* 刹车模式电机停止 */
+      c->move_vec.vx = 0.0f;
+      c->move_vec.vy = 0.0f;
+      break;
+
+    case CHASSIS_MODE_INDENPENDENT: /* 独立模式控制向量与运动向量相等 */
+      c->move_vec.vx = c_cmd->ctrl_vec.vx;
+      c->move_vec.vy = c_cmd->ctrl_vec.vx;
+      break;
+
+    case CHASSIS_MODE_OPEN:
+    case CHASSIS_MODE_RELAX:
+    case CHASSIS_MODE_FOLLOW_GIMBAL: /* 按照云台方向换算运动向量 */
+    case CHASSIS_MODE_FOLLOW_GIMBAL_35:
+    case CHASSIS_MODE_ROTOR: {
+      float beta = c->feedback.gimbal_yaw_encoder - c->mech_zero->yaw;
+      float cos_beta = cosf(beta);
+      float sin_beta = sinf(beta);
+      c->move_vec.vx =
+          cos_beta * c_cmd->ctrl_vec.vx - sin_beta * c_cmd->ctrl_vec.vy;
+      c->move_vec.vy =
+          sin_beta * c_cmd->ctrl_vec.vx + cos_beta * c_cmd->ctrl_vec.vy;
+    }
+  }
+
+  /* 计算wz */
+  switch (c->mode) {
+    case CHASSIS_MODE_RELAX:
+    case CHASSIS_MODE_BREAK:
+    case CHASSIS_MODE_INDENPENDENT: /* 独立模式wz为0 */
+      c->move_vec.wz = 0.0f;
+      break;
+
+    case CHASSIS_MODE_OPEN:
+    case CHASSIS_MODE_FOLLOW_GIMBAL: /* 跟随模式通过PID控制使车头跟随云台 */
+      c->move_vec.wz = PID_Calc(&(c->pid.follow), c->mech_zero->yaw,
+                                c->feedback.gimbal_yaw_encoder, 0.0f, c->dt);
+      break;
+    case CHASSIS_MODE_FOLLOW_GIMBAL_35:
+      c->move_vec.wz =
+          PID_Calc(&(c->pid.follow), c->mech_zero->yaw + M_7OVER72PI,
+                   c->feedback.gimbal_yaw_encoder, 0.0f, c->dt);
+      break;
+    case CHASSIS_MODE_ROTOR: { /* 小陀螺模式使底盘以一定速度旋转 */
+      c->move_vec.wz = c->wz_multi * Chassis_CalcWz(CHASSIS_ROTOR_WZ_MIN,
+                                                    CHASSIS_ROTOR_WZ_MAX, now);
+    }
+  }
+
+  /* move_vec -> motor_rpm_set. 通过运动向量计算轮子转速目标值 */
+  Mixer_Apply(&(c->mixer), &(c->move_vec), c->setpoint.motor_rpm, c->num_wheel,
+              7000.0f);
+
+  /* 根据轮子转速目标值，利用PID计算电机输出值 */
+  for (uint8_t i = 0; i < c->num_wheel; i++) {
+    /* 输入滤波. */
+    c->feedback.motor_rpm[i] =
+        LowPassFilter2p_Apply(c->filter.in + i, c->feedback.motor_rpm[i]);
+
+    /* 根据底盘模式计算输出值 */
+    switch (c->mode) {
+      case CHASSIS_MODE_BREAK:
+      case CHASSIS_MODE_FOLLOW_GIMBAL:
+      case CHASSIS_MODE_FOLLOW_GIMBAL_35:
+      case CHASSIS_MODE_ROTOR:
+      case CHASSIS_MODE_INDENPENDENT: /* 独立模式,受PID控制 */
+        c->out[i] = PID_Calc(c->pid.motor + i, c->setpoint.motor_rpm[i],
+                             c->feedback.motor_rpm[i], 0.0f, c->dt);
+        break;
+
+      case CHASSIS_MODE_OPEN: /* 开环模式,不受PID控制 */
+        c->out[i] = c->setpoint.motor_rpm[i] / 9000.0f;
+        break;
+
+      case CHASSIS_MODE_RELAX: /* 放松模式,不输出 */
+        c->out[i] = 0;
+        break;
+    }
+    /* 输出滤波. */
+    c->out[i] = LowPassFilter2p_Apply(c->filter.out + i, c->out[i]);
+  }
+
+  return CHASSIS_OK;
+}
+
+/**
+ * @brief 底盘功率限制
+ *
+ * @param c 底盘数据
+ * @param cap 电容数据
+ * @param ref 裁判系统数据
+ * @return 函数运行结果
+ */
+int8_t Chassis_PowerLimit(Chassis_t *c, const CAN_Capacitor_t *cap,
+                          const Referee_ForChassis_t *ref) {
+  float power_limit = 0.0f;
+  if (ref->ref_status != REF_STATUS_RUNNING) {
+    /* 裁判系统离线，将功率限制为固定值 */
+    power_limit = CHASSIS_POWER_MAX_WITHOUT_REF;
+  } else {
+    if (cap->cap_status == CAN_CAP_STATUS_RUNNING &&
+        cap->percentage > CAP_PERCENTAGE_CHARGE) {
+      /* 电容在线且电量足够，使用电容 */
+      if (cap->percentage > CAP_PERCENTAGE_WORK) {
+        /* 电容接近充满时不再限制功率 */
+        power_limit = -1.0f;
+      } else {
+        /* 按照电容能量百分比计算输出功率 */
+        power_limit = ref->chassis_power_limit +
+                      (cap->percentage - CAP_PERCENTAGE_CHARGE) /
+                          (CAP_PERCENTAGE_WORK - CAP_PERCENTAGE_CHARGE) *
+                          (float)CHASSIS_MAX_CAP_POWER;
+      }
+    } else {
+      /* 电容不在工作，根据缓冲能量计算输出功率限制 */
+      power_limit = PowerLimit_TargetPower(ref->chassis_power_limit,
+                                           ref->chassis_pwr_buff);
+    }
+  }
+  /* 应用功率限制 */
+  PowerLimit_ChassicOutput(power_limit, c->out, c->feedback.motor_rpm,
+                           c->num_wheel);
+
+  return CHASSIS_OK;
+}
+
+/**
+ * \brief 复制底盘输出值
+ *
+ * \param s 包含底盘数据的结构体
+ * \param out CAN设备底盘输出结构体
+ */
+void Chassis_DumpOutput(Chassis_t *c, CAN_ChassisOutput_t *out) {
+  for (uint8_t i = 0; i < c->num_wheel; i++) {
+    out->as_array[i] = c->out[i];
+  }
+}
+
+/**
+ * \brief 清空Chassis输出数据
+ *
+ * \param out CAN设备底盘输出结构体
+ */
+void Chassis_ResetOutput(CAN_ChassisOutput_t *out) {
+  for (uint8_t i = 0; i < 4; i++) {
+    out->as_array[i] = 0.0f;
+  }
+}
+
+/**
+ * @brief 导出底盘数据
+ *
+ * @param chassis 底盘数据结构体
+ * @param ui UI数据结构体
+ */
+void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui) {
+  ui->mode = c->mode;
+  ui->angle = c->feedback.gimbal_yaw_encoder - c->mech_zero->yaw;
+}
diff --git a/engineer/User/module/chassis.h b/engineer/User/module/chassis.h
new file mode 100644
index 0000000..ad991cd
--- /dev/null
+++ b/engineer/User/module/chassis.h
@@ -0,0 +1,179 @@
+/*
+ * 底盘模组
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "component/filter.h"
+#include "component/mixer.h"
+#include "component/pid.h"
+#include "bsp/can.h"
+#include "device/referee.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define CHASSIS_OK (0)        /* 运行正常 */
+#define CHASSIS_ERR (-1)      /* 运行时发现了其他错误 */
+#define CHASSIS_ERR_NULL (-2) /* 运行时发现NULL指针 */
+#define CHASSIS_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */
+#define CHASSIS_ERR_TYPE (-4) /* 运行时配置了错误的Chassis_Type_t */
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+/* 底盘类型（底盘的物理设计） */
+typedef enum {
+  CHASSIS_TYPE_MECANUM,    /* 麦克纳姆轮 */
+  CHASSIS_TYPE_PARLFIX4,   /* 平行摆设的四个驱动轮 */
+  CHASSIS_TYPE_PARLFIX2,   /* 平行摆设的两个驱动轮 */
+  CHASSIS_TYPE_OMNI_CROSS, /* 叉型摆设的四个全向轮 */
+  CHASSIS_TYPE_OMNI_PLUS,  /* 十字型摆设的四个全向轮 */
+  CHASSIS_TYPE_DRONE,      /* 底盘为无人机 */
+  CHASSIS_TYPE_SINGLE,     /* 单个摩擦轮 */
+} Chassis_Type_t;
+
+/* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
+typedef struct {
+  Chassis_Type_t type; /* 底盘类型，底盘的机械设计和轮子选型 */
+  KPID_Params_t motor_pid_param;  /* 轮子控制PID的参数 */
+  KPID_Params_t follow_pid_param; /* 跟随云台PID的参数 */
+
+  /* 低通滤波器截止频率 */
+  struct {
+    float in;  /* 输入 */
+    float out; /* 输出 */
+  } low_pass_cutoff_freq;
+
+  /* 电机反装 应该和云台设置相同*/
+  struct {
+    bool yaw;
+  } reverse;
+
+} Chassis_Params_t;
+
+/*
+ * 运行的主结构体，所有这个文件里的函数都在操作这个结构体
+ * 包含了初始化参数，中间变量，输出变量
+ */
+typedef struct {
+  uint32_t lask_wakeup;
+  float dt;
+
+  const Chassis_Params_t *param; /* 底盘的参数，用Chassis_Init设定 */
+  AHRS_Eulr_t *mech_zero;
+
+  /* 模块通用 */
+  CMD_ChassisMode_t mode; /* 底盘模式 */
+
+  /* 底盘设计 */
+  int8_t num_wheel; /* 底盘轮子数量 */
+  Mixer_t mixer;    /* 混合器，移动向量->电机目标值 */
+
+  MoveVector_t move_vec; /* 底盘实际的运动向量 */
+
+  /* 反馈信息 */
+  struct {
+    float gimbal_yaw_encoder; /* 云台Yaw轴编码器角度 */
+    float *motor_rpm;         /* 电机转速的动态数组，单位：RPM */
+    float *motor_current;     /* 转矩电流 单位：A */
+  } feedback;
+
+  float wz_multi; /* 小陀螺模式旋转方向 */
+
+  /* PID计算的目标值 */
+  struct {
+    float *motor_rpm; /* 电机转速的动态数组，单位：RPM */
+  } setpoint;
+
+  /* 反馈控制用的PID */
+  struct {
+    KPID_t *motor; /* 控制轮子电机用的PID的动态数组 */
+    KPID_t follow; /* 跟随云台用的PID */
+  } pid;
+
+  /* 滤波器 */
+  struct {
+    LowPassFilter2p_t *in;  /* 反馈值滤波器 */
+    LowPassFilter2p_t *out; /* 输出值滤波器 */
+  } filter;
+
+  float *out; /* 电机最终的输出值的动态数组 */
+} Chassis_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * \brief 初始化底盘
+ *
+ * \param c 包含底盘数据的结构体
+ * \param param 包含底盘参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
+                    AHRS_Eulr_t *mech_zero, float target_freq);
+
+/**
+ * \brief 更新底盘的反馈信息
+ *
+ * \param c 包含底盘数据的结构体
+ * \param can CAN设备结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can);
+
+/**
+ * \brief 运行底盘控制逻辑
+ *
+ * \param c 包含底盘数据的结构体
+ * \param c_cmd 底盘控制指令
+ * \param dt_sec 两次调用的时间间隔
+ *
+ * \return 函数运行结果
+ */
+int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd,
+                       uint32_t now);
+
+/**
+ * @brief 底盘功率限制
+ *
+ * @param c 底盘数据
+ * @param cap 电容数据
+ * @param ref 裁判系统数据
+ * @return 函数运行结果
+ */
+int8_t Chassis_PowerLimit(Chassis_t *c, const CAN_Capacitor_t *cap,
+                          const Referee_ForChassis_t *ref);
+
+/**
+ * \brief 复制底盘输出值
+ *
+ * \param s 包含底盘数据的结构体
+ * \param out CAN设备底盘输出结构体
+ */
+void Chassis_DumpOutput(Chassis_t *c, CAN_ChassisOutput_t *out);
+
+/**
+ * \brief 清空Chassis输出数据
+ *
+ * \param out CAN设备底盘输出结构体
+ */
+void Chassis_ResetOutput(CAN_ChassisOutput_t *out);
+
+/**
+ * @brief 导出底盘数据
+ *
+ * @param chassis 底盘数据结构体
+ * @param ui UI数据结构体
+ */
+void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/engineer/User/task/config.yaml b/engineer/User/task/config.yaml
index dfde961..91a568f 100644
--- a/engineer/User/task/config.yaml
+++ b/engineer/User/task/config.yaml
@@ -5,3 +5,9 @@
   function: Task_control
   name: control
   stack: 1024
+- delay: 0
+  description: ''
+  freq_control: false
+  function: Task_display
+  name: display
+  stack: 1024
diff --git a/engineer/User/task/control.c b/engineer/User/task/control.c
index 7d5ff20..3121532 100644
--- a/engineer/User/task/control.c
+++ b/engineer/User/task/control.c
@@ -1,12 +1,9 @@
 /*
     control Task
-
+    
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "component/filter.h"
-#include "component/pid.h"
-#include "device/motor_dm.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "component/kinematics.h"
@@ -99,39 +96,20 @@ MOTOR_LZ_t* a;
 void Task_control(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
 
+  
   /* 计算任务运行到指定频率需要等待的tick数 */
   const uint32_t delay_tick = osKernelGetTickFreq() / CONTROL_FREQ;
 
   osDelay(CONTROL_INIT_DELAY); /* 延时一段时间再开启任务 */
-  BSP_CAN_Init();
 
-  MOTOR_LZ_Init();
-  MOTOR_LZ_Register(&lzmotor.param);
-MOTOR_LZ_Enable(&lzmotor.param);
-a = MOTOR_LZ_GetMotor(&lzmotor.param);
-  // MOTOR_DM_Register(&motor.param);
-  // MOTOR_DM_Enable(&motor.param);
-  // PID_Init(&pid, KPID_MODE_SET_D, 1000, &pid_pram);
-  // LowPassFilter2p_Init(&filter, 1000, 20);
-  // LPF_Init(&ff, 1, 5);
-  //
-  // motor_out.angle = tp;
-  // motor_out.velocity = 0;
-  // motor_out.kp = 0;
-  // motor_out.kd = 0;
-  // motor_out.torque = 0;
-  // float sp = 0;
-
-  robot_init(&hand, LINK, T_mat, mat_pdata, 5);
-  fkine(&hand);
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-  /* USER CODE INIT BEGIN *
+  /* USER CODE INIT BEGIN */
 
   /* USER CODE INIT END */
-
+  
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
-                        /* USER CODE BEGIN */
+    /* USER CODE BEGIN */
     
     // MOTOR_LZ_UpdateAll();
     MOTOR_LZ_Update(&lzmotor.param);
@@ -151,4 +129,5 @@ a = MOTOR_LZ_GetMotor(&lzmotor.param);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
-}
+  
+}
\ No newline at end of file
diff --git a/engineer/User/task/display.c b/engineer/User/task/display.c
new file mode 100644
index 0000000..7debeac
--- /dev/null
+++ b/engineer/User/task/display.c
@@ -0,0 +1,38 @@
+/*
+    display Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_display(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  osDelay(DISPLAY_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  /* USER CODE INIT BEGIN */
+
+  /* USER CODE INIT END */
+
+  while (1) {
+    /* USER CODE BEGIN */
+
+    /* USER CODE END */
+  }
+  
+}
\ No newline at end of file
diff --git a/engineer/User/task/init.c b/engineer/User/task/init.c
index 7f27372..9028559 100644
--- a/engineer/User/task/init.c
+++ b/engineer/User/task/init.c
@@ -31,6 +31,7 @@ void Task_Init(void *argument) {
   
   /* 创建任务线程 */
   task_runtime.thread.control = osThreadNew(Task_control, NULL, &attr_control);
+  task_runtime.thread.display = osThreadNew(Task_display, NULL, &attr_display);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
diff --git a/engineer/User/task/user_task.c b/engineer/User/task/user_task.c
index 74ab41d..31b8cfd 100644
--- a/engineer/User/task/user_task.c
+++ b/engineer/User/task/user_task.c
@@ -13,4 +13,9 @@ const osThreadAttr_t attr_control = {
     .name = "control",
     .priority = osPriorityNormal,
     .stack_size = 1024 * 4,
+};
+const osThreadAttr_t attr_display = {
+    .name = "display",
+    .priority = osPriorityNormal,
+    .stack_size = 1024 * 4,
 };
\ No newline at end of file
diff --git a/engineer/User/task/user_task.h b/engineer/User/task/user_task.h
index 49b10c0..62fe86e 100644
--- a/engineer/User/task/user_task.h
+++ b/engineer/User/task/user_task.h
@@ -18,6 +18,7 @@ extern "C" {
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
 #define CONTROL_INIT_DELAY (0)
+#define DISPLAY_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -28,6 +29,7 @@ typedef struct {
     /* 各任务，也可以叫做线程 */
     struct {
         osThreadId_t control;
+        osThreadId_t display;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -50,6 +52,7 @@ typedef struct {
     /* 各任务的stack使用 */
     struct {
         UBaseType_t control;
+        UBaseType_t display;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -70,10 +73,12 @@ extern Task_Runtime_t task_runtime;
 /* 初始化任务句柄 */
 extern const osThreadAttr_t attr_init;
 extern const osThreadAttr_t attr_control;
+extern const osThreadAttr_t attr_display;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
 void Task_control(void *argument);
+void Task_display(void *argument);
 
 #ifdef __cplusplus
 }